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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-types">Private 类型</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1gpu_1_1_kinfu_tracker-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::gpu::KinfuTracker类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html" title="KinfuTracker class encapsulates implementation of Microsoft Kinect Fusion algorithm">KinfuTracker</a> class encapsulates implementation of Microsoft Kinect Fusion algorithm  
 <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="include_2pcl_2gpu_2kinfu_2kinfu_8h_source.html">kinfu.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a791a9c4f046d57cca7adfdceb4e0c90b"><td class="memItemLeft" align="right" valign="top"><a id="a791a9c4f046d57cca7adfdceb4e0c90b"></a>
typedef <a class="el" href="structpcl_1_1gpu_1_1_pixel_r_g_b.html">pcl::gpu::PixelRGB</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a791a9c4f046d57cca7adfdceb4e0c90b">PixelRGB</a></td></tr>
<tr class="memdesc:a791a9c4f046d57cca7adfdceb4e0c90b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pixel type for rendered image. <br /></td></tr>
<tr class="separator:a791a9c4f046d57cca7adfdceb4e0c90b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7c18f855f36aa1a746f5174740e71d08"><td class="memItemLeft" align="right" valign="top"><a id="a7c18f855f36aa1a746f5174740e71d08"></a>
typedef <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a791a9c4f046d57cca7adfdceb4e0c90b">PixelRGB</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>View</b></td></tr>
<tr class="separator:a7c18f855f36aa1a746f5174740e71d08"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; unsigned short &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DepthMap</b></td></tr>
<tr class="separator:af64db4002d604593f4a4361169e5c5a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointType</b></td></tr>
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<tr class="memitem:a71881b11f8edd39f80bf41f7b06f331d"><td class="memItemLeft" align="right" valign="top"><a id="a71881b11f8edd39f80bf41f7b06f331d"></a>
typedef <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a>&#160;</td><td class="memItemRight" valign="bottom"><b>NormalType</b></td></tr>
<tr class="separator:a71881b11f8edd39f80bf41f7b06f331d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a298ae65a16962a6b22734aa4e82b1e30"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a298ae65a16962a6b22734aa4e82b1e30">KinfuTracker</a> (int <a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae9b0aa678acd26547336f851df3148f3">rows</a>=480, int <a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a03e8fa0ec87f0a088db77056bb37183b">cols</a>=640)</td></tr>
<tr class="memdesc:a298ae65a16962a6b22734aa4e82b1e30"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a298ae65a16962a6b22734aa4e82b1e30">更多...</a><br /></td></tr>
<tr class="separator:a298ae65a16962a6b22734aa4e82b1e30"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae5bda1179509b76228ac375729452b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acae5bda1179509b76228ac375729452b">setDepthIntrinsics</a> (float fx, float fy, float cx=-1, float cy=-1)</td></tr>
<tr class="memdesc:acae5bda1179509b76228ac375729452b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets Depth camera intrinsics  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acae5bda1179509b76228ac375729452b">更多...</a><br /></td></tr>
<tr class="separator:acae5bda1179509b76228ac375729452b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace3373be40a46a814be7463563fee375"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ace3373be40a46a814be7463563fee375">getDepthIntrinsics</a> (float &amp;fx, float &amp;fy, float &amp;cx, float &amp;cy)</td></tr>
<tr class="memdesc:ace3373be40a46a814be7463563fee375"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get Depth camera intrinsics  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ace3373be40a46a814be7463563fee375">更多...</a><br /></td></tr>
<tr class="separator:ace3373be40a46a814be7463563fee375"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41ef2c5b91a365165c77d4050208fa4f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a41ef2c5b91a365165c77d4050208fa4f">setInitalCameraPose</a> (const Eigen::Affine3f &amp;pose)</td></tr>
<tr class="memdesc:a41ef2c5b91a365165c77d4050208fa4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets initial camera pose relative to volume coordiante space  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a41ef2c5b91a365165c77d4050208fa4f">更多...</a><br /></td></tr>
<tr class="separator:a41ef2c5b91a365165c77d4050208fa4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb3ffe5642a699214025025cb7268007"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#aeb3ffe5642a699214025025cb7268007">setDepthTruncationForICP</a> (float max_icp_distance=0.f)</td></tr>
<tr class="memdesc:aeb3ffe5642a699214025025cb7268007"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets truncation threshold for depth image for ICP step only! This helps to filter measurements that are outside tsdf volume. Pass zero to disable the truncation.  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#aeb3ffe5642a699214025025cb7268007">更多...</a><br /></td></tr>
<tr class="separator:aeb3ffe5642a699214025025cb7268007"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6fa2d79e775a0a08b88f72b783a869c3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a6fa2d79e775a0a08b88f72b783a869c3">setIcpCorespFilteringParams</a> (float distThreshold, float sineOfAngle)</td></tr>
<tr class="memdesc:a6fa2d79e775a0a08b88f72b783a869c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets ICP filtering parameters.  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a6fa2d79e775a0a08b88f72b783a869c3">更多...</a><br /></td></tr>
<tr class="separator:a6fa2d79e775a0a08b88f72b783a869c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab80aef146d7252062f62e5e1bdc10c78"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ab80aef146d7252062f62e5e1bdc10c78">setCameraMovementThreshold</a> (float threshold=0.001f)</td></tr>
<tr class="memdesc:ab80aef146d7252062f62e5e1bdc10c78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets integration threshold. TSDF volume is integrated iff a camera movement metric exceedes the threshold value. The metric represents the following: M = (rodrigues(Rotation).norm() + alpha*translation.norm())/2, where alpha = 1.f (hardcoded constant)  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ab80aef146d7252062f62e5e1bdc10c78">更多...</a><br /></td></tr>
<tr class="separator:ab80aef146d7252062f62e5e1bdc10c78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4769c1da08b99f414e4d3a0d935980ea"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a4769c1da08b99f414e4d3a0d935980ea">initColorIntegration</a> (int max_weight=-1)</td></tr>
<tr class="memdesc:a4769c1da08b99f414e4d3a0d935980ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs initialization for color integration. Must be called before calling color integration.  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a4769c1da08b99f414e4d3a0d935980ea">更多...</a><br /></td></tr>
<tr class="separator:a4769c1da08b99f414e4d3a0d935980ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03e8fa0ec87f0a088db77056bb37183b"><td class="memItemLeft" align="right" valign="top"><a id="a03e8fa0ec87f0a088db77056bb37183b"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a03e8fa0ec87f0a088db77056bb37183b">cols</a> ()</td></tr>
<tr class="memdesc:a03e8fa0ec87f0a088db77056bb37183b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns cols passed to ctor <br /></td></tr>
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<tr class="memitem:ae9b0aa678acd26547336f851df3148f3"><td class="memItemLeft" align="right" valign="top"><a id="ae9b0aa678acd26547336f851df3148f3"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae9b0aa678acd26547336f851df3148f3">rows</a> ()</td></tr>
<tr class="memdesc:ae9b0aa678acd26547336f851df3148f3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns rows passed to ctor <br /></td></tr>
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<tr class="memitem:ae72308d3cef87136319904dca77bfa52"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae72308d3cef87136319904dca77bfa52">operator()</a> (const <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a> &amp;depth, Eigen::Affine3f *hint=NULL)</td></tr>
<tr class="memdesc:ae72308d3cef87136319904dca77bfa52"><td class="mdescLeft">&#160;</td><td class="mdescRight">Processes next frame.  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae72308d3cef87136319904dca77bfa52">更多...</a><br /></td></tr>
<tr class="separator:ae72308d3cef87136319904dca77bfa52"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34a30288656ef19fee3ead14443aff5a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a34a30288656ef19fee3ead14443aff5a">operator()</a> (const <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a> &amp;depth, const <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;colors)</td></tr>
<tr class="memdesc:a34a30288656ef19fee3ead14443aff5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Processes next frame (both depth and color integration). Please call initColorIntegration before invpoking this.  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a34a30288656ef19fee3ead14443aff5a">更多...</a><br /></td></tr>
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<tr class="memitem:acce9d1f5390482d74cb5e9de5db27ed0"><td class="memItemLeft" align="right" valign="top">Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acce9d1f5390482d74cb5e9de5db27ed0">getCameraPose</a> (int time=-1) const</td></tr>
<tr class="memdesc:acce9d1f5390482d74cb5e9de5db27ed0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns camera pose at given time, default the last pose  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acce9d1f5390482d74cb5e9de5db27ed0">更多...</a><br /></td></tr>
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<tr class="memitem:a308ddf89c0d151dc37850a2c5b3385ef"><td class="memItemLeft" align="right" valign="top"><a id="a308ddf89c0d151dc37850a2c5b3385ef"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a308ddf89c0d151dc37850a2c5b3385ef">getNumberOfPoses</a> () const</td></tr>
<tr class="memdesc:a308ddf89c0d151dc37850a2c5b3385ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns number of poses including initial <br /></td></tr>
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<tr class="memitem:a98ccc9b76287a87ebe616ac9930b346a"><td class="memItemLeft" align="right" valign="top"><a id="a98ccc9b76287a87ebe616ac9930b346a"></a>
const <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html">TsdfVolume</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a98ccc9b76287a87ebe616ac9930b346a">volume</a> () const</td></tr>
<tr class="memdesc:a98ccc9b76287a87ebe616ac9930b346a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns TSDF volume storage <br /></td></tr>
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<tr class="memitem:a9ab29766c8bcb5b208c1ca603194d27a"><td class="memItemLeft" align="right" valign="top"><a id="a9ab29766c8bcb5b208c1ca603194d27a"></a>
<a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html">TsdfVolume</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a9ab29766c8bcb5b208c1ca603194d27a">volume</a> ()</td></tr>
<tr class="memdesc:a9ab29766c8bcb5b208c1ca603194d27a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns TSDF volume storage <br /></td></tr>
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const <a class="el" href="classpcl_1_1gpu_1_1_color_volume.html">ColorVolume</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#af13756a71109b514ef08665d27539e42">colorVolume</a> () const</td></tr>
<tr class="memdesc:af13756a71109b514ef08665d27539e42"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns color volume storage <br /></td></tr>
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<a class="el" href="classpcl_1_1gpu_1_1_color_volume.html">ColorVolume</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a1f63fe2a29378cdd1477c6ed5c099608">colorVolume</a> ()</td></tr>
<tr class="memdesc:a1f63fe2a29378cdd1477c6ed5c099608"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns color volume storage <br /></td></tr>
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<tr class="memitem:a39c68ad891480b038b5b3af4f5127111"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a39c68ad891480b038b5b3af4f5127111">getImage</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;view) const</td></tr>
<tr class="memdesc:a39c68ad891480b038b5b3af4f5127111"><td class="mdescLeft">&#160;</td><td class="mdescRight">Renders 3D scene to display to human  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a39c68ad891480b038b5b3af4f5127111">更多...</a><br /></td></tr>
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<tr class="memitem:a051b9bfa972836a3276c9198a718e9cb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a051b9bfa972836a3276c9198a718e9cb">getLastFrameCloud</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointType</a> &gt; &amp;cloud) const</td></tr>
<tr class="memdesc:a051b9bfa972836a3276c9198a718e9cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns point cloud abserved from last camera pose  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a051b9bfa972836a3276c9198a718e9cb">更多...</a><br /></td></tr>
<tr class="separator:a051b9bfa972836a3276c9198a718e9cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4a6a0ab27a5dbef0ed62f8a93250915"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ab4a6a0ab27a5dbef0ed62f8a93250915">getLastFrameNormals</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalType</a> &gt; &amp;normals) const</td></tr>
<tr class="memdesc:ab4a6a0ab27a5dbef0ed62f8a93250915"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns point cloud abserved from last camera pose  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ab4a6a0ab27a5dbef0ed62f8a93250915">更多...</a><br /></td></tr>
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<tr class="memitem:a7aa190d3a049ccacbcfdf7952435a387"><td class="memItemLeft" align="right" valign="top"><a id="a7aa190d3a049ccacbcfdf7952435a387"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a7aa190d3a049ccacbcfdf7952435a387">disableIcp</a> ()</td></tr>
<tr class="memdesc:a7aa190d3a049ccacbcfdf7952435a387"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables ICP forever <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-types"></a>
Private 类型</h2></td></tr>
<tr class="memitem:a25d50af81e2e7b5ffa25cd6e166d8421"><td class="memItemLeft" align="right" valign="top"><a id="a25d50af81e2e7b5ffa25cd6e166d8421"></a>enum &#160;</td><td class="memItemRight" valign="bottom">{ <b>LEVELS</b> = 3
 }</td></tr>
<tr class="memdesc:a25d50af81e2e7b5ffa25cd6e166d8421"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of pyramid levels <br /></td></tr>
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<tr class="memitem:a8260cd0b0ff8aee29f62a8b5bd5a4ee0"><td class="memItemLeft" align="right" valign="top"><a id="a8260cd0b0ff8aee29f62a8b5bd5a4ee0"></a>
typedef <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a8260cd0b0ff8aee29f62a8b5bd5a4ee0">CorespMap</a></td></tr>
<tr class="memdesc:a8260cd0b0ff8aee29f62a8b5bd5a4ee0"><td class="mdescLeft">&#160;</td><td class="mdescRight">ICP Correspondences map type <br /></td></tr>
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<tr class="memitem:ac6907a617eb7d3a1fe2a3f1875699ea5"><td class="memItemLeft" align="right" valign="top"><a id="ac6907a617eb7d3a1fe2a3f1875699ea5"></a>
typedef <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac6907a617eb7d3a1fe2a3f1875699ea5">MapArr</a></td></tr>
<tr class="memdesc:ac6907a617eb7d3a1fe2a3f1875699ea5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vertex or <a class="el" href="structpcl_1_1_normal.html" title="A point structure representing normal coordinates and the surface curvature estimate....">Normal</a> Map type <br /></td></tr>
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<tr class="memitem:a53174d742bda0542d12224b4468b6701"><td class="memItemLeft" align="right" valign="top"><a id="a53174d742bda0542d12224b4468b6701"></a>
typedef Eigen::Matrix&lt; float, 3, 3, Eigen::RowMajor &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix3frm</b></td></tr>
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<tr class="memitem:a037134775c03bc94e9973e536246b9b1"><td class="memItemLeft" align="right" valign="top"><a id="a037134775c03bc94e9973e536246b9b1"></a>
typedef Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><b>Vector3f</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:a1aae2a33456b73ddf7e648ac8ebdcab3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a1aae2a33456b73ddf7e648ac8ebdcab3">allocateBufffers</a> (int rows_arg, int cols_arg)</td></tr>
<tr class="memdesc:a1aae2a33456b73ddf7e648ac8ebdcab3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Allocates all GPU internal buffers.  <a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a1aae2a33456b73ddf7e648ac8ebdcab3">更多...</a><br /></td></tr>
<tr class="separator:a1aae2a33456b73ddf7e648ac8ebdcab3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33ee559805ad1cbacd971d61ac123230"><td class="memItemLeft" align="right" valign="top"><a id="a33ee559805ad1cbacd971d61ac123230"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a33ee559805ad1cbacd971d61ac123230">reset</a> ()</td></tr>
<tr class="memdesc:a33ee559805ad1cbacd971d61ac123230"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs the tracker reset to initial state. It's used if case of camera tracking fail. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:af860cce1c7f322fe73da29759307bb4a"><td class="memItemLeft" align="right" valign="top"><a id="af860cce1c7f322fe73da29759307bb4a"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#af860cce1c7f322fe73da29759307bb4a">rows_</a></td></tr>
<tr class="memdesc:af860cce1c7f322fe73da29759307bb4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Height of input depth image. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac1f951fc7ea1f6bed900aba7f842ede7">cols_</a></td></tr>
<tr class="memdesc:ac1f951fc7ea1f6bed900aba7f842ede7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Width of input depth image. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a2ebf671c0dce357586de014eab6c0365">global_time_</a></td></tr>
<tr class="memdesc:a2ebf671c0dce357586de014eab6c0365"><td class="mdescLeft">&#160;</td><td class="mdescRight">Frame counter <br /></td></tr>
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<tr class="memitem:a33ed5080ed83531d8751356d8f33a66e"><td class="memItemLeft" align="right" valign="top"><a id="a33ed5080ed83531d8751356d8f33a66e"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a33ed5080ed83531d8751356d8f33a66e">max_icp_distance_</a></td></tr>
<tr class="memdesc:a33ed5080ed83531d8751356d8f33a66e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Truncation threshold for depth image for ICP step <br /></td></tr>
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<tr class="memitem:ae803cd706fe0ae0e84a51069e713a773"><td class="memItemLeft" align="right" valign="top"><a id="ae803cd706fe0ae0e84a51069e713a773"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae803cd706fe0ae0e84a51069e713a773">fx_</a></td></tr>
<tr class="memdesc:ae803cd706fe0ae0e84a51069e713a773"><td class="mdescLeft">&#160;</td><td class="mdescRight">Intrinsic parameters of depth camera. <br /></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>fy_</b></td></tr>
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<tr class="memitem:a5752c4c3a0421c332282f45181fc5464"><td class="memItemLeft" align="right" valign="top"><a id="a5752c4c3a0421c332282f45181fc5464"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>cx_</b></td></tr>
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<tr class="memitem:adb371acf8c07f77944139c6512475063"><td class="memItemLeft" align="right" valign="top"><a id="adb371acf8c07f77944139c6512475063"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>cy_</b></td></tr>
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<tr class="memitem:a07f8d3a86e2116f477993cfab38481d2"><td class="memItemLeft" align="right" valign="top"><a id="a07f8d3a86e2116f477993cfab38481d2"></a>
TsdfVolume::Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a07f8d3a86e2116f477993cfab38481d2">tsdf_volume_</a></td></tr>
<tr class="memdesc:a07f8d3a86e2116f477993cfab38481d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tsdf volume container. <br /></td></tr>
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<tr class="memitem:a22feaeb65103ddfba71942338ccf86e4"><td class="memItemLeft" align="right" valign="top"><a id="a22feaeb65103ddfba71942338ccf86e4"></a>
ColorVolume::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>color_volume_</b></td></tr>
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<tr class="memitem:a151d5a6632fe146444ec17b4af23ef25"><td class="memItemLeft" align="right" valign="top"><a id="a151d5a6632fe146444ec17b4af23ef25"></a>
Matrix3frm&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a151d5a6632fe146444ec17b4af23ef25">init_Rcam_</a></td></tr>
<tr class="memdesc:a151d5a6632fe146444ec17b4af23ef25"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initial camera rotation in volume coo space. <br /></td></tr>
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<tr class="memitem:a827ec5a264191792bacc6ae886144e74"><td class="memItemLeft" align="right" valign="top"><a id="a827ec5a264191792bacc6ae886144e74"></a>
Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a827ec5a264191792bacc6ae886144e74">init_tcam_</a></td></tr>
<tr class="memdesc:a827ec5a264191792bacc6ae886144e74"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initial camera position in volume coo space. <br /></td></tr>
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<tr class="memitem:a765d6f071ab9e279c1f58460ce6513e9"><td class="memItemLeft" align="right" valign="top"><a id="a765d6f071ab9e279c1f58460ce6513e9"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a765d6f071ab9e279c1f58460ce6513e9">icp_iterations_</a> [LEVELS]</td></tr>
<tr class="memdesc:a765d6f071ab9e279c1f58460ce6513e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">array with IPC iteration numbers for each pyramid level <br /></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a00137ea245d532cad2aead412d190af0">distThres_</a></td></tr>
<tr class="memdesc:a00137ea245d532cad2aead412d190af0"><td class="mdescLeft">&#160;</td><td class="mdescRight">distance threshold in correspondences filtering <br /></td></tr>
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<tr class="memitem:ad24e48b0cf8999a9c49560372cdb088d"><td class="memItemLeft" align="right" valign="top"><a id="ad24e48b0cf8999a9c49560372cdb088d"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad24e48b0cf8999a9c49560372cdb088d">angleThres_</a></td></tr>
<tr class="memdesc:ad24e48b0cf8999a9c49560372cdb088d"><td class="mdescLeft">&#160;</td><td class="mdescRight">angle threshold in correspondences filtering. Represents max sine of angle between normals. <br /></td></tr>
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<tr class="memitem:a37cecb34a971ccb0589105acd0f6c689"><td class="memItemLeft" align="right" valign="top"><a id="a37cecb34a971ccb0589105acd0f6c689"></a>
std::vector&lt; <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a37cecb34a971ccb0589105acd0f6c689">depths_curr_</a></td></tr>
<tr class="memdesc:a37cecb34a971ccb0589105acd0f6c689"><td class="mdescLeft">&#160;</td><td class="mdescRight">Depth pyramid. <br /></td></tr>
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<tr class="memitem:a225d02e6e2880275ab4f183992d12e93"><td class="memItemLeft" align="right" valign="top"><a id="a225d02e6e2880275ab4f183992d12e93"></a>
std::vector&lt; <a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac6907a617eb7d3a1fe2a3f1875699ea5">MapArr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a225d02e6e2880275ab4f183992d12e93">vmaps_g_curr_</a></td></tr>
<tr class="memdesc:a225d02e6e2880275ab4f183992d12e93"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vertex maps pyramid for current frame in global coordinate space. <br /></td></tr>
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<tr class="memitem:a48da2f80667f0addb5c6bf13f06e90a8"><td class="memItemLeft" align="right" valign="top"><a id="a48da2f80667f0addb5c6bf13f06e90a8"></a>
std::vector&lt; <a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac6907a617eb7d3a1fe2a3f1875699ea5">MapArr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a48da2f80667f0addb5c6bf13f06e90a8">nmaps_g_curr_</a></td></tr>
<tr class="memdesc:a48da2f80667f0addb5c6bf13f06e90a8"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structpcl_1_1_normal.html" title="A point structure representing normal coordinates and the surface curvature estimate....">Normal</a> maps pyramid for current frame in global coordinate space. <br /></td></tr>
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std::vector&lt; <a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac6907a617eb7d3a1fe2a3f1875699ea5">MapArr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad334aad0c1403136f0703bbbac7edcde">vmaps_g_prev_</a></td></tr>
<tr class="memdesc:ad334aad0c1403136f0703bbbac7edcde"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vertex maps pyramid for previous frame in global coordinate space. <br /></td></tr>
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std::vector&lt; <a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac6907a617eb7d3a1fe2a3f1875699ea5">MapArr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a72326a442b8e1d31f9c0bd87aa497311">nmaps_g_prev_</a></td></tr>
<tr class="memdesc:a72326a442b8e1d31f9c0bd87aa497311"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structpcl_1_1_normal.html" title="A point structure representing normal coordinates and the surface curvature estimate....">Normal</a> maps pyramid for previous frame in global coordinate space. <br /></td></tr>
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std::vector&lt; <a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac6907a617eb7d3a1fe2a3f1875699ea5">MapArr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a2b91dc8b08a8141626f8da31b38878a3">vmaps_curr_</a></td></tr>
<tr class="memdesc:a2b91dc8b08a8141626f8da31b38878a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vertex maps pyramid for current frame in current coordinate space. <br /></td></tr>
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std::vector&lt; <a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac6907a617eb7d3a1fe2a3f1875699ea5">MapArr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a32034ee64394270b288b7f08426bbd0e">nmaps_curr_</a></td></tr>
<tr class="memdesc:a32034ee64394270b288b7f08426bbd0e"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structpcl_1_1_normal.html" title="A point structure representing normal coordinates and the surface curvature estimate....">Normal</a> maps pyramid for current frame in current coordinate space. <br /></td></tr>
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std::vector&lt; <a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a8260cd0b0ff8aee29f62a8b5bd5a4ee0">CorespMap</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a86e03b62d453c129fe2af46dc5c62aa5">coresps_</a></td></tr>
<tr class="memdesc:a86e03b62d453c129fe2af46dc5c62aa5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Array of buffers with ICP correspondences for each pyramid level. <br /></td></tr>
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<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acda63a2c9b0ea6c293893c674f060871">depthRawScaled_</a></td></tr>
<tr class="memdesc:acda63a2c9b0ea6c293893c674f060871"><td class="mdescLeft">&#160;</td><td class="mdescRight">Buffer for storing scaled depth image <br /></td></tr>
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<tr class="memitem:a0d13a53668565403ede0b26466a53f73"><td class="memItemLeft" align="right" valign="top"><a id="a0d13a53668565403ede0b26466a53f73"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a0d13a53668565403ede0b26466a53f73">gbuf_</a></td></tr>
<tr class="memdesc:a0d13a53668565403ede0b26466a53f73"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary buffer for ICP <br /></td></tr>
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<a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a545bceaf2d55048ef72a089d08b8db0d">sumbuf_</a></td></tr>
<tr class="memdesc:a545bceaf2d55048ef72a089d08b8db0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Buffer to store MLS matrix. <br /></td></tr>
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std::vector&lt; Matrix3frm &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a28fff2f7abe3ea086b22dd68060e0cc6">rmats_</a></td></tr>
<tr class="memdesc:a28fff2f7abe3ea086b22dd68060e0cc6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Array of camera rotation matrices for each moment of time. <br /></td></tr>
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std::vector&lt; Vector3f &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad1a3d9f1a4fa9dcafd3e4e1f41ceb9bf">tvecs_</a></td></tr>
<tr class="memdesc:ad1a3d9f1a4fa9dcafd3e4e1f41ceb9bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Array of camera translations for each moment of time. <br /></td></tr>
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<tr class="memitem:a63c8c907d3578610d7f3985e2453a94b"><td class="memItemLeft" align="right" valign="top"><a id="a63c8c907d3578610d7f3985e2453a94b"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a63c8c907d3578610d7f3985e2453a94b">integration_metric_threshold_</a></td></tr>
<tr class="memdesc:a63c8c907d3578610d7f3985e2453a94b"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_camera.html">Camera</a> movement threshold. TSDF is integrated iff a camera movement metric exceedes some value. <br /></td></tr>
<tr class="separator:a63c8c907d3578610d7f3985e2453a94b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a67ee1a667510a18ee1243c5dfa719fa2"><td class="memItemLeft" align="right" valign="top"><a id="a67ee1a667510a18ee1243c5dfa719fa2"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a67ee1a667510a18ee1243c5dfa719fa2">disable_icp_</a></td></tr>
<tr class="memdesc:a67ee1a667510a18ee1243c5dfa719fa2"><td class="mdescLeft">&#160;</td><td class="mdescRight">ICP step is completelly disabled. Inly integratio now <br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="classpcl_1_1gpu_1_1_kinfu_tracker.html" title="KinfuTracker class encapsulates implementation of Microsoft Kinect Fusion algorithm">KinfuTracker</a> class encapsulates implementation of Microsoft Kinect Fusion algorithm </p>
<dl class="section author"><dt>作者</dt><dd>Anatoly Baskeheev, Itseez Ltd, (<a href="#" onclick="location.href='mai'+'lto:'+'myn'+'am'+'e.m'+'ys'+'urn'+'am'+'e@m'+'yc'+'omp'+'an'+'y.c'+'om'; return false;">mynam<span style="display: none;">.nosp@m.</span>e.my<span style="display: none;">.nosp@m.</span>surna<span style="display: none;">.nosp@m.</span>me@m<span style="display: none;">.nosp@m.</span>ycomp<span style="display: none;">.nosp@m.</span>any.<span style="display: none;">.nosp@m.</span>com</a>) </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a298ae65a16962a6b22734aa4e82b1e30"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a298ae65a16962a6b22734aa4e82b1e30">&#9670;&nbsp;</a></span>KinfuTracker()</h2>

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          <td class="memname">pcl::gpu::KinfuTracker::KinfuTracker </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>rows</em> = <code>480</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>cols</em> = <code>640</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Constructor </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">rows</td><td>height of depth image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cols</td><td>width of depth image </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="groupheader">成员函数说明</h2>
<a id="a1aae2a33456b73ddf7e648ac8ebdcab3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1aae2a33456b73ddf7e648ac8ebdcab3">&#9670;&nbsp;</a></span>allocateBufffers()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::allocateBufffers </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>rows_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>cols_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<p>Allocates all GPU internal buffers. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">rows_arg</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cols_arg</td><td><br  />
 </td></tr>
  </table>
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<h2 class="memtitle"><span class="permalink"><a href="#acce9d1f5390482d74cb5e9de5db27ed0">&#9670;&nbsp;</a></span>getCameraPose()</h2>

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          <td class="memname">Eigen::Affine3f pcl::gpu::KinfuTracker::getCameraPose </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>time</em> = <code>-1</code></td><td>)</td>
          <td> const</td>
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<p>Returns camera pose at given time, default the last pose </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">time</td><td>Index of frame for which camera pose is returned. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>camera pose </dd></dl>

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</div>
<a id="ace3373be40a46a814be7463563fee375"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ace3373be40a46a814be7463563fee375">&#9670;&nbsp;</a></span>getDepthIntrinsics()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::getDepthIntrinsics </td>
          <td>(</td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>fx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>fy</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>cx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>cy</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Get Depth camera intrinsics </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">fx</td><td>focal length x </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">fy</td><td>focal length y </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cx</td><td>principal point x </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cy</td><td>principal point y </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a39c68ad891480b038b5b3af4f5127111">&#9670;&nbsp;</a></span>getImage()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::getImage </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;&#160;</td>
          <td class="paramname"><em>view</em></td><td>)</td>
          <td> const</td>
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<p>Renders 3D scene to display to human </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">view</td><td>output array with image </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a051b9bfa972836a3276c9198a718e9cb">&#9670;&nbsp;</a></span>getLastFrameCloud()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::getLastFrameCloud </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
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<p>Returns point cloud abserved from last camera pose </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>output array for points </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ab4a6a0ab27a5dbef0ed62f8a93250915">&#9670;&nbsp;</a></span>getLastFrameNormals()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::getLastFrameNormals </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>normals</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
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<p>Returns point cloud abserved from last camera pose </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">normals</td><td>output array for normals </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a4769c1da08b99f414e4d3a0d935980ea">&#9670;&nbsp;</a></span>initColorIntegration()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::initColorIntegration </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>max_weight</em> = <code>-1</code></td><td>)</td>
          <td></td>
        </tr>
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<p>Performs initialization for color integration. Must be called before calling color integration. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">max_weight</td><td>max weighe for color integration. -1 means default weight. </td></tr>
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  </dd>
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<h2 class="memtitle"><span class="permalink"><a href="#a34a30288656ef19fee3ead14443aff5a">&#9670;&nbsp;</a></span>operator()() <span class="overload">[1/2]</span></h2>

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          <td class="memname">bool pcl::gpu::KinfuTracker::operator() </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a> &amp;&#160;</td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;&#160;</td>
          <td class="paramname"><em>colors</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Processes next frame (both depth and color integration). Please call initColorIntegration before invpoking this. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">depth</td><td>next depth frame with values in millimeters </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">colors</td><td>next <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">RGB</a> frame </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if can render 3D view. </dd></dl>

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<a id="ae72308d3cef87136319904dca77bfa52"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae72308d3cef87136319904dca77bfa52">&#9670;&nbsp;</a></span>operator()() <span class="overload">[2/2]</span></h2>

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          <td class="memname">bool pcl::gpu::KinfuTracker::operator() </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a> &amp;&#160;</td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Affine3f *&#160;</td>
          <td class="paramname"><em>hint</em> = <code>NULL</code>&#160;</td>
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          <td></td>
          <td>)</td>
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<p>Processes next frame. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">depth</td><td>next frame with values in millimeters </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">hint</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if can render 3D view. </dd></dl>

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<a id="ab80aef146d7252062f62e5e1bdc10c78"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab80aef146d7252062f62e5e1bdc10c78">&#9670;&nbsp;</a></span>setCameraMovementThreshold()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::setCameraMovementThreshold </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>threshold</em> = <code>0.001f</code></td><td>)</td>
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<p>Sets integration threshold. TSDF volume is integrated iff a camera movement metric exceedes the threshold value. The metric represents the following: M = (rodrigues(Rotation).norm() + alpha*translation.norm())/2, where alpha = 1.f (hardcoded constant) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>a value to compare with the metric. Suitable values are ~0.001 <br  />
 </td></tr>
  </table>
  </dd>
</dl>

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<a id="acae5bda1179509b76228ac375729452b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acae5bda1179509b76228ac375729452b">&#9670;&nbsp;</a></span>setDepthIntrinsics()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::setDepthIntrinsics </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>fx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>fy</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>cx</em> = <code>-1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>cy</em> = <code>-1</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Sets Depth camera intrinsics </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">fx</td><td>focal length x </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">fy</td><td>focal length y </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cx</td><td>principal point x </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cy</td><td>principal point y </td></tr>
  </table>
  </dd>
</dl>

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<a id="aeb3ffe5642a699214025025cb7268007"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aeb3ffe5642a699214025025cb7268007">&#9670;&nbsp;</a></span>setDepthTruncationForICP()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::setDepthTruncationForICP </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>max_icp_distance</em> = <code>0.f</code></td><td>)</td>
          <td></td>
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<p>Sets truncation threshold for depth image for ICP step only! This helps to filter measurements that are outside tsdf volume. Pass zero to disable the truncation. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">max_icp_distance</td><td>Maximal distance, higher values are reset to zero (means no measurement). </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a6fa2d79e775a0a08b88f72b783a869c3">&#9670;&nbsp;</a></span>setIcpCorespFilteringParams()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::setIcpCorespFilteringParams </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>distThreshold</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>sineOfAngle</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Sets ICP filtering parameters. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">distThreshold</td><td>distance. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">sineOfAngle</td><td>sine of angle between normals. </td></tr>
  </table>
  </dd>
</dl>

</div>
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<a id="a41ef2c5b91a365165c77d4050208fa4f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a41ef2c5b91a365165c77d4050208fa4f">&#9670;&nbsp;</a></span>setInitalCameraPose()</h2>

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          <td class="memname">void pcl::gpu::KinfuTracker::setInitalCameraPose </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Affine3f &amp;&#160;</td>
          <td class="paramname"><em>pose</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Sets initial camera pose relative to volume coordiante space </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pose</td><td>Initial camera pose </td></tr>
  </table>
  </dd>
</dl>

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</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>gpu/kinfu/include/pcl/gpu/kinfu/<a class="el" href="include_2pcl_2gpu_2kinfu_2kinfu_8h_source.html">kinfu.h</a></li>
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